playerc++.h
195 player_orientation_3d_t GetBaseOrientation(void) const { return GetVar(mDevice->base_orientation); }
202 player_actarray_actuator_t operator [](uint32_t aJoint)
268 uint32_t GetMixerDetailsCount() const {return(GetVar(mDevice->channel_details_list.details_count));};
270 player_audio_mixer_channel_detail_t GetMixerDetails(int aIndex) const {return(GetVar(mDevice->channel_details_list.details[aIndex]));};
272 uint32_t GetDefaultOutputChannel() const {return(GetVar(mDevice->channel_details_list.default_output));};
274 uint32_t GetDefaultInputChannel() const {return(GetVar(mDevice->channel_details_list.default_input));};
292 player_audio_seq_item_t GetSeqItem(int aIndex) const {return(GetVar(mDevice->seq_data.tones[aIndex]));};
297 player_audio_mixer_channel_t GetChannel(int aIndex) const {return(GetVar(mDevice->mixer_data.channels[aIndex]));};
379 void SetEventHandler(void (*on_blackboard_event)(playerc_blackboard_t *, player_blackboard_entry_t));
672 uint8_t GetSensorType (uint32_t index) const { if ( index < GetSensorNumber() ) return GetVar(mDevice->sensor_data[index].type); else return -1; };
675 uint16_t GetSensorData (uint32_t index) const { if ( index < GetSensorNumber() ) return GetVar(mDevice->sensor_data[index].value); else return -1; };
701 uint8_t GetAlarmType (uint32_t index) const { if ( index < GetAlarmNumber() ) return GetVar(mDevice->alarm_data[index].type); else return -1; };
704 uint16_t GetAlarmData (uint32_t index) const { if ( index < GetAlarmNumber() ) return GetVar(mDevice->alarm_data[index].value); else return -1; };
713 uint8_t GetUserData (uint32_t index) const { if ( index < GetUserDataNumber() ) return GetVar(mDevice->user_data[index]); else return 0xFF; };
722 double GetRSSInodeTime () const { return (double)(mDevice->RSSInodeTimeHigh + 10e-6*mDevice->RSSInodeTimeLow); };
742 uint8_t GetParameter (uint32_t index) const { if ( index < GetParametersSize() ) return GetVar(mDevice->parameters[index]); else return 0xFF; };
747 void SendData(int destID, int sourceID, int extradata_type, uint32_t extradata_size, uint8_t *extradata);
749 void SendCommand(int destID, int sourceID, int command, uint32_t cmd_parameters_size = 0, uint8_t *cmd_parameters = NULL);
751 void SendRequest(int destID, int sourceID, int request, uint32_t req_parameters_size = 0, uint8_t *req_parameters = NULL);
1472 { if (GetVar(mDevice->axes_count) <= (int32_t)aIndex) return -1.0; return GetVar(mDevice->pos[aIndex]); };
2623 { if (GetVar(mDevice->scan_count) <= (int32_t)aIndex) return -1.0; return GetVar(mDevice->scan[aIndex]); };
2714 void SaveFrame(const std::string aPrefix, uint32_t aWidth, playerc_camera_t aDevice, uint8_t aIndex);
2723 uint32_t mFrameNo[3];
2735 void SaveLeftFrame(const std::string aPrefix, uint32_t aWidth=4) {return SaveFrame(aPrefix, aWidth, mDevice->left_channel, 0); };
2739 void SaveRightFrame(const std::string aPrefix, uint32_t aWidth=4) {return SaveFrame(aPrefix, aWidth, mDevice->right_channel, 1); };
2743 void SaveDisparityFrame(const std::string aPrefix, uint32_t aWidth=4) {return SaveFrame(aPrefix, aWidth, mDevice->disparity, 2); };
2858 player_pointcloud3d_stereo_element_t operator [] (uint32_t aIndex) const { return GetPoint(aIndex); }
3009 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::ActArrayProxy& c);
3012 //PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::BlinkenLightProxy& c);
3013 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::BlobfinderProxy& c);
3015 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::CameraProxy& c);PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::CoopObjectProxy& c);
3017 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::FiducialProxy& c);
3024 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::LinuxjoystickProxy& c);
3025 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::LocalizeProxy& c);
3030 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::Position1dProxy& c);
3031 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::Position2dProxy& c);
3032 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::Position3dProxy& c);
3036 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::SimulationProxy& c);
3039 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::SpeechRecognitionProxy& c);
3041 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::VectorMapProxy& c);
3042 //PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::WafeformProxy& c);
The ActArrayProxy class is used to control a interface_actarray device.
Definition: playerc++.h:142
void SetActuatorCurrentMulti(std::vector< float > aCurrent)
Set actuators 0 thru n to the given currents.
void MoveToMulti(std::vector< float > aPos)
Send actuators 0 thru n to the designated positions.
void MoveAtSpeed(uint32_t aJoint, float aSpeed)
Move an actuator at a speed.
player_point_3d_t GetBasePos(void) const
Accessor method for getting the base position.
Definition: playerc++.h:193
void SetAccelerationConfig(uint32_t aJoint, float aAcc)
Acceleration control.
void SetSpeedConfig(uint32_t aJoint, float aSpeed)
Speed control.
player_orientation_3d_t GetBaseOrientation(void) const
Accessor method for getting the base orientation.
Definition: playerc++.h:195
void MoveAtSpeedMulti(std::vector< float > aSpeed)
Move actuators 0 thru n at the designated speeds.
void MoveTo(uint32_t aJoint, float aPos)
Send an actuator to a position.
uint32_t GetCount(void) const
Gets the number of actuators in the array.
Definition: playerc++.h:187
void SetActuatorCurrent(uint32_t aJoint, float aCurrent)
Set an actuator to a given current.
void RequestGeometry(void)
Geometry request - call before getting the geometry of a joint through the accessor method.
player_actarray_actuator_t GetActuatorData(uint32_t aJoint) const
Accessor method for getting an actuator's data.
ActArrayProxy(PlayerClient *aPc, uint32_t aIndex=0)
Default constructor.
player_actarray_actuatorgeom_t GetActuatorGeom(uint32_t aJoint) const
Same again for getting actuator geometry.
The AioProxy class is used to read from a interface_aio (analog I/O) device.
Definition: playerc++.h:210
uint32_t GetCount() const
Get number of voltages.
Definition: playerc++.h:227
void SetVoltage(uint32_t aIndex, double aVoltage)
Set an output voltage.
double GetVoltage(uint32_t aIndex) const
Get an input voltage.
Definition: playerc++.h:230
The AudioProxy class controls an interface_audio device.
Definition: playerc++.h:250
void GetMixerLevels()
Request mixer channel data result is stored in mixer_data.
uint32_t GetWavDataLength() const
Get Wav data length.
Definition: playerc++.h:277
uint32_t GetState(void) const
Get driver state.
Definition: playerc++.h:299
void RecordWav()
Request to record a single audio block result is stored in wav_data.
player_audio_mixer_channel_t GetChannel(int aIndex) const
Get Sequence item.
Definition: playerc++.h:297
void GetSample(int aIndex)
Request to retrieve an audio sample Data is stored in wav_data.
void PlaySeq(player_audio_seq_t *aTones)
Command to play sequence of tones.
player_audio_seq_item_t GetSeqItem(int aIndex) const
Get Sequence item.
Definition: playerc++.h:292
uint32_t GetMixerDetailsCount() const
Get Mixer Details Count.
Definition: playerc++.h:268
void SetMultMixerLevels(player_audio_mixer_channel_list_t *aLevels)
Command to set multiple mixer levels.
uint32_t GetDefaultOutputChannel() const
Get Default output Channel.
Definition: playerc++.h:272
void SetMixerLevel(uint32_t index, float amplitude, uint8_t active)
Command to set a single mixer level.
void RecordSample(int aIndex, uint32_t aLength)
Request to record new sample.
void LoadSample(int aIndex, uint32_t aDataCount, uint8_t *aData, uint32_t aFormat)
Request to load an audio sample.
uint32_t GetChannelCount() const
Get Channel data count.
Definition: playerc++.h:295
uint32_t GetDefaultInputChannel() const
Get Default input Channel.
Definition: playerc++.h:274
player_audio_mixer_channel_detail_t GetMixerDetails(int aIndex) const
Get Mixer Detail.
Definition: playerc++.h:270
void PlayWav(uint32_t aDataCount, uint8_t *aData, uint32_t aFormat)
Command to play an audio block.
uint32_t GetSeqCount() const
Get Seq data count.
Definition: playerc++.h:290
void GetMixerDetails()
Request mixer channel details list result is stored in channel_details_list.
void GetWavData(uint8_t *aData) const
Get Wav data This function copies the wav data into the buffer aImage.
Definition: playerc++.h:282
The BlackBoardProxy class is used to subscribe to a blackboard device.
Definition: playerc++.h:353
BlackBoardProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
void SetEventHandler(void(*on_blackboard_event)(playerc_blackboard_t *, player_blackboard_entry_t))
Set the function pointer which will be called when an entry is updated.
player_blackboard_entry_t * SubscribeToKey(const char *key, const char *group="")
Subscribe to a key.
void SubscribeToGroup(const char *key)
Subscribe to a group.
void UnsubscribeFromGroup(const char *group)
Stop receiving updates about this group.
void UnsubscribeFromKey(const char *key, const char *group="")
Stop receiving updates about this key.
void SetEntry(const player_blackboard_entry_t &entry)
Set a key value.
player_blackboard_entry_t * GetEntry(const char *key, const char *group)
Get a value for a key.
The BlobfinderProxy class is used to control a interface_blobfinder device.
Definition: playerc++.h:426
uint32_t GetWidth() const
get the width of the image
Definition: playerc++.h:448
playerc_blobfinder_blob_t GetBlob(uint32_t aIndex) const
returns a blob
Definition: playerc++.h:444
uint32_t GetHeight() const
get the height of the image
Definition: playerc++.h:450
uint32_t GetCount() const
returns the number of blobs
Definition: playerc++.h:442
BlobfinderProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
The BumperProxy class is used to read from a interface_bumper device.
Definition: playerc++.h:477
bool IsAnyBumped()
Returns true if any bumper has been bumped, false otherwise.
player_bumper_define_t GetPose(uint32_t aIndex) const
Returns a specific bumper pose.
Definition: playerc++.h:511
void RequestBumperConfig()
Requests the geometries of the bumpers.
uint32_t GetCount() const
Returns how many bumpers are in underlying device.
Definition: playerc++.h:495
uint32_t GetPoseCount() const
Returns the number bumper poses.
Definition: playerc++.h:508
uint32_t IsBumped(uint32_t aIndex) const
Returns true if the specified bumper has been bumped, false otherwise.
Definition: playerc++.h:498
The CameraProxy class can be used to get images from a interface_camera device.
Definition: playerc++.h:527
uint32_t GetDepth() const
Image color depth.
Definition: playerc++.h:557
uint32_t GetCompression() const
What is the compression type? Currently supported compression types are:
Definition: playerc++.h:591
uint32_t GetImageSize() const
Size of the image (bytes)
Definition: playerc++.h:574
void SaveFrame(const std::string aPrefix, uint32_t aWidth=4)
Save the frame.
uint32_t GetHeight() const
Image dimensions (pixels)
Definition: playerc++.h:563
uint32_t GetWidth() const
Image dimensions (pixels)
Definition: playerc++.h:560
void GetImage(uint8_t *aImage) const
Image data This function copies the image data into the data buffer aImage.
Definition: playerc++.h:580
uint32_t GetFormat() const
Image format Possible values include.
Definition: playerc++.h:571
The CoopObjectProxy class is used to control a interface_coopobject device.
Definition: playerc++.h:599
uint8_t GetParameter(uint32_t index) const
Indexed user defined byte.
Definition: playerc++.h:742
void SetProxyID(uint32_t value)
Set robot ID.
Definition: playerc++.h:648
uint32_t GetAlarmNumber() const
Get number of alarms included in the message.
Definition: playerc++.h:678
void SendCommand(int destID, int sourceID, int command, uint32_t cmd_parameters_size=0, uint8_t *cmd_parameters=NULL)
Send command to Cooperating Object.
float GetZ() const
Cooperating Object Z position.
Definition: playerc++.h:729
uint8_t GetSensorType(uint32_t index) const
Sensor type Possible values include.
Definition: playerc++.h:672
int MessageType() const
Message type Possible values include.
Definition: playerc++.h:628
uint32_t GetCommand() const
Command type.
Definition: playerc++.h:736
uint16_t GetRSSIstamp() const
Radio Signal Strength message timestamp.
Definition: playerc++.h:720
uint16_t GetRSSIvalue() const
Radio Signal Strength value.
Definition: playerc++.h:718
uint32_t GetProxyID() const
Get robot ID.
Definition: playerc++.h:645
uint32_t GetUserDataNumber() const
Get number of bytes of user defined data.
Definition: playerc++.h:707
uint16_t GetRSSIsenderId() const
Radio Signal Strength sender ID.
Definition: playerc++.h:716
uint32_t GetParentID() const
Cooperating Object Parent ID.
Definition: playerc++.h:642
double GetRSSInodeTime() const
Radio Signal Strength Cooperating Object timestamp.
Definition: playerc++.h:722
uint8_t * GetAllParameters() const
Request/Command parameter array.
Definition: playerc++.h:740
float GetX() const
Cooperating Object X position.
Definition: playerc++.h:725
CoopObjectProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
float GetY() const
Cooperating Object Y position.
Definition: playerc++.h:727
uint8_t GetAlarmType(uint32_t index) const
Alarm type Possible values include.
Definition: playerc++.h:701
void SendRequest(int destID, int sourceID, int request, uint32_t req_parameters_size=0, uint8_t *req_parameters=NULL)
Send request to Cooperating Object.
uint16_t GetAlarmData(uint32_t index) const
Alarm value.
Definition: playerc++.h:704
void SendData(int destID, int sourceID, player_pose2d_t pos, int status)
Send user data to Cooperating Object.
uint8_t GetStatus() const
Cooperating Object status.
Definition: playerc++.h:731
uint32_t GetRequest() const
Request type.
Definition: playerc++.h:734
uint32_t GetParametersSize() const
Request/Command parameter array size (in bytes)
Definition: playerc++.h:738
void SendData(int destID, int sourceID, int extradata_type, uint32_t extradata_size, uint8_t *extradata)
Send user data to Cooperating Object.
uint16_t GetSensorData(uint32_t index) const
Sensor value.
Definition: playerc++.h:675
uint32_t GetOrigin() const
Cooperating Object type Possible values include.
Definition: playerc++.h:636
uint8_t * GetAllUserData() const
User defined data array.
Definition: playerc++.h:710
uint8_t GetUserData(uint32_t index) const
Indexed user defined byte.
Definition: playerc++.h:713
uint32_t GetID() const
Cooperating Object ID.
Definition: playerc++.h:639
uint32_t GetSensorNumber() const
Get number of sensors included in the message.
Definition: playerc++.h:651
The DioProxy class is used to read from a interface_dio (digital I/O) device.
Definition: playerc++.h:766
uint32_t GetCount() const
The number of valid digital inputs.
Definition: playerc++.h:782
void SetOutput(uint32_t aCount, uint32_t aDigout)
Set the output to the bitfield aDigout.
uint32_t GetDigin() const
A bitfield of the current digital inputs.
Definition: playerc++.h:785
The FiducialProxy class is used to control interface_fiducial devices.
Definition: playerc++.h:807
player_pose3d_t GetSensorPose() const
The pose of the sensor.
Definition: playerc++.h:829
player_fiducial_item_t GetFiducialItem(uint32_t aIndex) const
Get detected beacon description.
Definition: playerc++.h:825
player_bbox3d_t GetSensorSize() const
The size of the sensor.
Definition: playerc++.h:833
uint32_t GetCount() const
The number of beacons detected.
Definition: playerc++.h:822
void RequestGeometry()
Get the sensor's geometry configuration.
FiducialProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
player_bbox2d_t GetFiducialSize() const
The size of the most recently detected fiducial.
Definition: playerc++.h:837
The GpsProxy class is used to control a interface_gps device.
Definition: playerc++.h:855
double GetCourse() const
Course made good (heading if the robot moves along its longitudinal axis), in radians.
Definition: playerc++.h:884
double GetErrHorizontal() const
Errors.
Definition: playerc++.h:906
double GetVdop() const
Vertical dilution of position (HDOP)
Definition: playerc++.h:896
uint32_t GetSatellites() const
Number of satellites in view.
Definition: playerc++.h:887
double GetHdop() const
Horizontal dilution of position (HDOP)
Definition: playerc++.h:893
double GetAltitude() const
Altitude, in meters.
Definition: playerc++.h:877
double GetLatitude() const
Latitude and longitude, in degrees.
Definition: playerc++.h:873
double GetUtmEasting() const
UTM easting and northing (meters).
Definition: playerc++.h:899
double GetSpeed() const
Spped over ground, in m/s.
Definition: playerc++.h:880
The Graphics2dProxy class is used to draw simple graphics into a rendering device provided by Player ...
Definition: playerc++.h:918
void DrawMultiline(player_point_2d_t pts[], int count)
Draw multiple lines. Lines ending points are at pts[2n] pts[2n+1] where 2n+1<count.
void DrawPolygon(player_point_2d_t pts[], int count, bool filled, player_color_t fill_color)
Draw a polygon defined by a set of points.
Graphics2dProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
void DrawPolyline(player_point_2d_t pts[], int count)
Draw a line connecting set of points.
void Color(uint8_t red, uint8_t green, uint8_t blue, uint8_t alpha)
Set the current pen color.
void DrawPoints(player_point_2d_t pts[], int count)
Draw a set of points.
The Graphics3dProxy class is used to draw simple graphics into a rendering device provided by Player ...
Definition: playerc++.h:968
void Color(uint8_t red, uint8_t green, uint8_t blue, uint8_t alpha)
Set the current pen color.
void Draw(player_graphics3d_draw_mode_t mode, player_point_3d_t pts[], int count)
Draw a set of verticies.
Graphics3dProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
The GripperProxy class is used to control a interface_gripper device.
Definition: playerc++.h:1005
void RequestGeometry(void)
Geometry request - call before getting the geometry of the gripper through an accessor method.
player_bbox3d_t GetInnerSize() const
Get the inner size of the gripper.
Definition: playerc++.h:1035
uint32_t GetCapacity() const
Get the capacity of the gripper's storage.
Definition: playerc++.h:1039
uint32_t GetNumBeams() const
Get the number of breakbeams in the gripper.
Definition: playerc++.h:1037
player_pose3d_t GetPose() const
Get the pose of the gripper.
Definition: playerc++.h:1031
uint32_t GetBeams() const
Get the gripper break beam info.
Definition: playerc++.h:1029
uint32_t GetState() const
Get the gripper state.
Definition: playerc++.h:1027
uint32_t GetStored() const
Get the number of currently-stored objects.
Definition: playerc++.h:1041
player_bbox3d_t GetOuterSize() const
Get the outer size of the gripper.
Definition: playerc++.h:1033
The HealthProxy class is used to get infos of the player-server.
Definition: playerc++.h:1058
float GetPercTotalUsed()
Get percentage of totally used memory (swap and ram)
The ImuProxy class is used to control an interface_imu device.
Definition: playerc++.h:1118
void ResetEuler(float aRoll, float aPitch, float aYaw)
Reset euler orientation.
player_pose3d_t GetPose() const
Get the processed pose of the imu.
Definition: playerc++.h:1134
player_imu_data_calib_t GetRawValues() const
Get all calibrated values.
Definition: playerc++.h:1156
void SetDatatype(int aDatatype)
Change the data type to one of the predefined data structures.
The IrProxy class is used to control an interface_ir device.
Definition: playerc++.h:1176
double GetVoltage(uint32_t aIndex) const
get the current voltage
Definition: playerc++.h:1199
double GetRange(uint32_t aIndex) const
get the current range
Definition: playerc++.h:1196
player_pose3d_t GetPose(uint32_t aIndex) const
get a particular pose
Definition: playerc++.h:1204
uint32_t GetPoseCount() const
get the number of poses
Definition: playerc++.h:1202
uint32_t GetCount() const
get the number of IR rangers
Definition: playerc++.h:1194
The LaserProxy class is used to control a interface_laser device.
Definition: playerc++.h:1225
double GetMinLeft() const
Minimum range reading on the left side.
Definition: playerc++.h:1368
double GetRange(uint32_t aIndex) const
get the range
Definition: playerc++.h:1287
double GetConfMaxAngle() const
Scan range from the laser config (call RequestConfigure first) (radians)
Definition: playerc++.h:1272
double GetBearing(uint32_t aIndex) const
get the bearing
Definition: playerc++.h:1291
player_pose3d_t GetPose()
Accessor for the pose of the laser with respect to its parent object (e.g., a robot).
Definition: playerc++.h:1332
uint32_t GetCount() const
Number of points in scan.
Definition: playerc++.h:1246
double GetScanningFrequency() const
Scanning Frequency (Hz)
Definition: playerc++.h:1258
double GetMinRight() const
Minimum range reading on the right side.
Definition: playerc++.h:1372
int GetIntensity(uint32_t aIndex) const
get the intensity
Definition: playerc++.h:1296
void RequestConfigure()
Request the current laser configuration; it is read into the relevant class attributes.
player_pose3d_t GetRobotPose()
Accessor for the pose of the laser's parent object (e.g., a robot).
Definition: playerc++.h:1345
bool IntensityOn() const
Whether or not reflectance (i.e., intensity) values are being returned.
Definition: playerc++.h:1275
void RequestGeom()
Get the laser's geometry; it is read into the relevant class attributes.
player_point_2d_t GetPoint(uint32_t aIndex) const
Scan data (Cartesian): x,y (m)
Definition: playerc++.h:1282
int GetID() const
get the laser ID, call RequestId first
Definition: playerc++.h:1300
double GetConfMinAngle() const
Scan range from the laser config (call RequestConfigure first) (radians)
Definition: playerc++.h:1270
double GetMinAngle() const
Scan range for the latest set of data (radians)
Definition: playerc++.h:1261
void Configure(double aMinAngle, double aMaxAngle, uint32_t aScanRes, uint32_t aRangeRes, bool aIntensity, double aScanningFrequency)
Configure the laser scan pattern.
player_bbox3d_t GetSize()
Accessor for the size (fill it in by calling RequestGeom)
Definition: playerc++.h:1357
double GetMaxAngle() const
Scan range for the latest set of data (radians)
Definition: playerc++.h:1263
double GetScanRes() const
Angular resolution of scan (radians)
Definition: playerc++.h:1252
double GetRangeRes() const
Range resolution of scan (mm)
Definition: playerc++.h:1255
double GetMaxRange() const
Max range for the latest set of data (meters)
Definition: playerc++.h:1249
The LimbProxy class is used to control a interface_limb device.
Definition: playerc++.h:1398
player_limb_geom_req_t GetGeom(void) const
Same again for getting the limb's geometry.
player_limb_data_t GetData(void) const
Accessor method for getting the limb's data.
void SetPose(float aPX, float aPY, float aPZ, float aAX, float aAY, float aAZ, float aOX, float aOY, float aOZ)
Move the end effector to a given pose.
void RequestGeometry(void)
Geometry request - call before getting the geometry of a joint through the accessor method.
void VectorMove(float aX, float aY, float aZ, float aLength)
Move the end effector along a vector of given length, maintaining current orientation.
void SetPosition(float aX, float aY, float aZ)
Move the end effector to a given position, ignoring orientation.
The LinuxjoystickProxy class is used to control a interface_joystick device.
Definition: playerc++.h:1452
uint32_t GetAxesCount() const
Number of valid joystick poses.
Definition: playerc++.h:1478
uint32_t GetButtons() const
return the sensor count
Definition: playerc++.h:1468
double GetAxes(uint32_t aIndex) const
return a particular scan value
Definition: playerc++.h:1471
The LocalizeProxy class is used to control a interface_localize device, which can provide multiple po...
Definition: playerc++.h:1502
uint32_t GetNumHypoths() const
Get the number of localization hypoths.
Definition: playerc++.h:1564
double GetMapScale() const
Map scale (m/cell)
Definition: playerc++.h:1532
int GetParticles()
Get the particle set.
Definition: playerc++.h:1554
void SetPose(double pose[3], double cov[6])
Set the current pose hypothesis (m, m, radians).
uint32_t GetMapTileX() const
Map tile X dimension (cells)
Definition: playerc++.h:1527
uint32_t GetMapTileY() const
Map tile Y dimension (cells)
Definition: playerc++.h:1529
uint32_t GetNumParticles() const
Get the number of particles (for particle filter-based localization systems).
Definition: playerc++.h:1568
uint32_t GetHypothCount() const
Number of possible poses.
Definition: playerc++.h:1547
player_localize_hypoth_t GetHypoth(uint32_t aIndex) const
Array of possible poses.
Definition: playerc++.h:1550
uint32_t GetMapSizeX() const
Map X dimension (cells)
Definition: playerc++.h:1521
uint32_t GetMapSizeY() const
Map Y dimension (cells)
Definition: playerc++.h:1523
player_pose2d_t GetParticlePose(int index) const
Get the Pose of a particle.
LocalizeProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
uint32_t GetPendingCount() const
Number of pending (unprocessed) sensor readings.
Definition: playerc++.h:1544
The LogProxy proxy provides access to a interface_log device.
Definition: playerc++.h:1576
void SetFilename(const std::string aFilename)
Set the name of the logfile to write to.
int GetType() const
What kind of log device is this? Either PLAYER_LOG_TYPE_READ or PLAYER_LOG_TYPE_WRITE.
Definition: playerc++.h:1594
int GetState() const
Is logging/playback enabled? Call QueryState() to fill it.
Definition: playerc++.h:1597
void SetWriteState(int aState)
Start/stop (1/0) writing to the log file.
void SetReadState(int aState)
Start/stop (1/0) reading from the log file.
void SetState(int aState)
Start/stop (1/0) reading from or writing to the log file.
The map proxy provides access to a interface_map device.
Definition: playerc++.h:1623
int8_t GetDataRange() const
Range of grid data (default: empty = -1, unknown = 0, occupied = +1)
Definition: playerc++.h:1664
uint32_t GetWidth() const
Map size, in cells.
Definition: playerc++.h:1655
int8_t GetCell(int x, int y) const
Get the (x,y) cell.
Definition: playerc++.h:1647
int GetCellIndex(int x, int y) const
Return the index of the (x,y) item in the cell array.
Definition: playerc++.h:1643
void GetMap(int8_t *aMap) const
Occupancy for each cell.
Definition: playerc++.h:1667
uint32_t GetHeight() const
Map size, in cells.
Definition: playerc++.h:1658
double GetResolution() const
Map resolution, m/cell.
Definition: playerc++.h:1651
The OpaqueProxy proxy provides an interface to a generic interface_opaque.
Definition: playerc++.h:1681
uint32_t GetCount() const
How long is the data?
Definition: playerc++.h:1699
void GetData(uint8_t *aDest) const
Opaque data.
Definition: playerc++.h:1702
The PlannerProxy proxy provides an interface to a 2D motion interface_planner.
Definition: playerc++.h:1721
double GetGa() const
Goal location (radians)
Definition: playerc++.h:1791
player_pose2d_t GetCurrentWaypoint() const
Get the current waypoint.
Definition: playerc++.h:1815
uint32_t GetPathDone() const
Have we arrived at the goal?
Definition: playerc++.h:1756
int GetCurrentWaypointId() const
Current waypoint index (handy if you already have the list of waypoints).
Definition: playerc++.h:1850
double GetWx() const
Current waypoint location (m)
Definition: playerc++.h:1806
void SetStartPose(double aSx, double aSy, double aSa)
Set the start pose (sx, sy, sa)
player_pose2d_t GetWaypoint(uint32_t aIndex) const
Get the waypoint.
Definition: playerc++.h:1836
player_pose2d_t GetPose() const
Get the current pose.
Definition: playerc++.h:1773
double GetPathLength() const
Get straight-line distance along path.
Definition: playerc++.h:1760
player_pose2d_t GetGoal() const
Get the goal.
Definition: playerc++.h:1794
uint32_t GetPathValid() const
Did the planner find a valid path?
Definition: playerc++.h:1753
double GetWy() const
Current waypoint location (m)
Definition: playerc++.h:1809
uint32_t GetWaypointCount() const
Number of waypoints in the plan.
Definition: playerc++.h:1854
void SetGoalPose(double aGx, double aGy, double aGa)
Set the goal pose (gx, gy, ga)
double GetWa() const
Current waypoint location (rad)
Definition: playerc++.h:1812
The PlayerClient is used for communicating with the player server.
Definition: playerclient.h:121
The Pointcloud3d proxy provides an interface to a pointcloud3d device.
Definition: playerc++.h:1870
player_pointcloud3d_element_t GetPoint(uint32_t aIndex) const
return a particular scan value
Definition: playerc++.h:1890
uint32_t GetCount() const
return the point count
Definition: playerc++.h:1887
Pointcloud3dProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
The Position1dProxy class is used to control a interface_position1d device.
Definition: playerc++.h:1905
void GoTo(double aPos, double aVel)
Send a motor command for position control mode.
double GetVel() const
Get current velocity.
Definition: playerc++.h:1984
void SetSpeed(double aVel)
Send a motor command for velocity control mode.
bool IsOverCurrent() const
Is the device over current limits?
Definition: playerc++.h:2008
bool IsTrajComplete() const
Is the device finished moving?
Definition: playerc++.h:2013
Position1dProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
uint8_t GetStatus() const
Get device status.
Definition: playerc++.h:1990
bool IsLimitMin() const
Is the device at the min limit?
Definition: playerc++.h:1993
bool IsLimitMax() const
Is the device at the max limit?
Definition: playerc++.h:2003
double GetPos() const
Get current position.
Definition: playerc++.h:1981
void ResetOdometry()
Reset odometry to 0.
Definition: playerc++.h:1968
void RequestGeom()
Get the device's geometry; it is read into the relevant class attributes.
bool IsEnabled() const
Is the device enabled?
Definition: playerc++.h:2018
void SetOdometry(double aPos)
Sets the odometry to the pose aPos.
bool GetStall() const
Get whether or not the device is stalled.
Definition: playerc++.h:1987
player_bbox3d_t GetSize() const
Accessor for the size (fill it in by calling RequestGeom)
Definition: playerc++.h:1948
player_pose3d_t GetPose() const
Accessor for the pose (fill it in by calling RequestGeom)
Definition: playerc++.h:1937
bool IsLimitCen() const
Is the device at the center limit?
Definition: playerc++.h:1998
The Position2dProxy class is used to control a interface_position2d device.
Definition: playerc++.h:2029
void SetSpeed(double aXSpeed, double aYSpeed, double aYawSpeed)
Send a motor command for velocity control mode.
void RequestGeom()
Get the device's geometry; it is read into the relevant class attributes.
void SetOdometry(double aX, double aY, double aYaw)
Sets the odometry to the pose (x, y, yaw).
bool GetStall() const
Is the device stalled?
Definition: playerc++.h:2185
void GoTo(player_pose2d_t pos, player_pose2d_t vel)
Send a motor command for position control mode.
double GetXPos() const
Get the device's X position.
Definition: playerc++.h:2167
void GoTo(player_pose2d_t pos)
Same as the previous GoTo(), but doesn't take speed.
Definition: playerc++.h:2077
double GetYaw() const
Get the device's Yaw position (angle)
Definition: playerc++.h:2173
void SetVelHead(double aXSpeed, double aYawHead)
Same as the previous SetVelHead(), but doesn't take the yspeed speed (so use this one for non-holonom...
Definition: playerc++.h:2067
void SetCarlike(double aXSpeed, double aDriveAngle)
Sets command for carlike robot.
void SetSpeed(double aXSpeed, double aYawSpeed)
Same as the previous SetSpeed(), but doesn't take the yspeed speed (so use this one for non-holonomic...
Definition: playerc++.h:2053
double GetYSpeed() const
Get the device's Y speed.
Definition: playerc++.h:2179
void GoTo(double aX, double aY, double aYaw)
Same as the previous GoTo(), but only takes position arguments, no motion speed setting.
Definition: playerc++.h:2082
player_bbox3d_t GetSize()
Accessor for the size (fill it in by calling RequestGeom)
Definition: playerc++.h:2105
Position2dProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
double GetXSpeed() const
Get the device's X speed.
Definition: playerc++.h:2176
double GetYPos() const
Get the device's Y position.
Definition: playerc++.h:2170
player_pose3d_t GetOffset()
Accessor for the robot's pose with respect to its.
Definition: playerc++.h:2094
void SetVelHead(double aXSpeed, double aYSpeed, double aYawHead)
Send a motor command for velocity/heading control mode.
double GetYawSpeed() const
Get the device's angular (yaw) speed.
Definition: playerc++.h:2182
void SetSpeed(player_pose2d_t vel)
Overloaded SetSpeed that takes player_pose2d_t as an argument.
Definition: playerc++.h:2057
The Position3dProxy class is used to control a interface_position3d device.
Definition: playerc++.h:2196
double GetXSpeed() const
Get device X speed.
Definition: playerc++.h:2314
void SelectVelocityControl(int aMode)
Select velocity control mode.
void SetSpeed(double aXSpeed, double aYSpeed, double aZSpeed, double aYawSpeed)
Send a motor command for a planar robot.
Definition: playerc++.h:2222
void RequestGeom()
Get the device's geometry; it is read into the relevant class attributes.
void SetOdometry(double aX, double aY, double aZ, double aRoll, double aPitch, double aYaw)
Sets the odometry to the pose (x, y, z, roll, pitch, yaw).
double GetYaw() const
Get device Yaw angle.
Definition: playerc++.h:2311
Position3dProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
void GoTo(player_pose3d_t aPos, player_pose3d_t aVel)
Send a motor command for position control mode.
void SetSpeed(player_pose3d_t vel)
Overloaded SetSpeed that takes player_pose3d_t as input.
Definition: playerc++.h:2236
void SetMotorEnable(bool aEnable)
Enable/disable the motors.
double GetXPos() const
Get device X position.
Definition: playerc++.h:2296
void SetSpeed(double aXSpeed, double aYawSpeed)
Same as the previous SetSpeed(), but doesn't take the sideways speed (so use this one for non-holonom...
Definition: playerc++.h:2232
double GetYawSpeed() const
Get device Yaw speed.
Definition: playerc++.h:2329
void GoTo(double aX, double aY, double aZ, double aRoll, double aPitch, double aYaw)
Same as the previous GoTo(), but only takes position arguments, no motion speed setting.
Definition: playerc++.h:2251
void SetSpeed(double aXSpeed, double aYSpeed, double aZSpeed, double aRollSpeed, double aPitchSpeed, double aYawSpeed)
Send a motor command for a planar robot.
double GetRollSpeed() const
Get device Roll speed.
Definition: playerc++.h:2323
double GetPitchSpeed() const
Get device Pitch speed.
Definition: playerc++.h:2326
double GetYSpeed() const
Get device Y speed.
Definition: playerc++.h:2317
double GetPitch() const
Get device Pitch angle.
Definition: playerc++.h:2308
void GoTo(player_pose3d_t aPos)
Same as the previous GoTo(), but does'n take vel argument.
Definition: playerc++.h:2245
double GetZSpeed() const
Get device Z speed.
Definition: playerc++.h:2320
double GetRoll() const
Get device Roll angle.
Definition: playerc++.h:2305
double GetYPos() const
Get device Y position.
Definition: playerc++.h:2299
void SetSpeed(double aXSpeed, double aYSpeed, double aYawSpeed)
simplified version of SetSpeed
Definition: playerc++.h:2227
bool GetStall() const
Is the device stalled?
Definition: playerc++.h:2332
double GetZPos() const
Get device Z position.
Definition: playerc++.h:2302
The PowerProxy class controls a interface_power device.
Definition: playerc++.h:2337
double GetPercent() const
Returns the percent of power.
Definition: playerc++.h:2356
double GetJoules() const
Returns the joules.
Definition: playerc++.h:2359
double GetCharge() const
Returns the current charge.
Definition: playerc++.h:2353
bool GetCharging() const
Returns whether charging is taking place.
Definition: playerc++.h:2365
The PtzProxy class is used to control a interface_ptz device.
Definition: playerc++.h:2378
void SetSpeed(double aPanSpeed=0, double aTiltSpeed=0, double aZoomSpeed=0)
Specify new target velocities.
void SetCam(double aPan, double aTilt, double aZoom)
Change the camera state.
The RFIDProxy class is used to control a interface_rfid device.
Definition: playerc++.h:2521
playerc_rfidtag_t GetRFIDTag(uint32_t aIndex) const
returns a RFID tag
Definition: playerc++.h:2540
uint32_t GetTagsCount() const
returns the number of RFID tags
Definition: playerc++.h:2538
The RangerProxy class is used to control a interface_ranger device.
Definition: playerc++.h:2424
double GetIntensity(uint32_t aIndex) const
Get an intensity reading.
player_bbox3d_t GetDeviceSize() const
Return the device size.
Definition: playerc++.h:2445
double GetAngularRes() const
Angular resolution of a scan (configured value)
Definition: playerc++.h:2503
double GetMinAngle() const
Start angle of a scan (configured value)
Definition: playerc++.h:2497
player_point_3d_t GetPoint(uint32_t aIndex) const
Get a point reading.
player_pose3d_t GetDevicePose() const
Return the device pose.
Definition: playerc++.h:2443
void SetIntensityData(bool aEnable)
Turn intensity data on or off.
player_bbox3d_t GetElementSize(uint32_t aIndex) const
Return the size of an individual sensor.
void RequestConfigure()
Get the current ranger configuration; it is read into the relevant class attributes.
uint32_t GetPointCount() const
Return the number of point readings.
Definition: playerc++.h:2460
uint32_t GetIntensityCount() const
Return the number of intensity readings.
Definition: playerc++.h:2465
uint32_t GetElementCount() const
Return the individual range sensor count.
Definition: playerc++.h:2440
double GetMaxAngle() const
Stop angle of a scan (configured value)
Definition: playerc++.h:2500
uint32_t GetRangeCount() const
Return the number of range readings.
Definition: playerc++.h:2453
double GetMinRange() const
Minimum detectable range of a scan (configured value)
Definition: playerc++.h:2506
double GetFrequency() const
Scanning frequency (configured value)
Definition: playerc++.h:2515
double GetRangeRes() const
Linear resolution (configured value)
Definition: playerc++.h:2512
double GetMaxRange() const
Maximum detectable range of a scan (configured value)
Definition: playerc++.h:2509
player_pose3d_t GetElementPose(uint32_t aIndex) const
Return the pose of an individual sensor.
void Configure(double aMinAngle, double aMaxAngle, double aAngularRes, double aMinRange, double aMaxRange, double aRangeRes, double aFrequency)
Configure the ranger scan pattern.
The SimulationProxy proxy provides access to a interface_simulation device.
Definition: playerc++.h:2556
SimulationProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
void GetPose2d(char *identifier, double &x, double &y, double &a)
get the pose of an object in the simulator, identified by the std::string Returns 0 on success,...
void SetPose3d(char *identifier, double x, double y, double z, double roll, double pitch, double yaw)
set the 3D pose of an object in the simulator, identified by the std::string.
void GetPose3d(char *identifier, double &x, double &y, double &z, double &roll, double &pitch, double &yaw, double &time)
get the 3D pose of an object in the simulator, identified by the std::string Returns 0 on success,...
void GetProperty(char *identifier, char *name, void *value, size_t value_len)
Get a simulation property.
void SetPose2d(char *identifier, double x, double y, double a)
set the 2D pose of an object in the simulator, identified by the std::string.
void SetProperty(char *identifier, char *name, void *value, size_t value_len)
Set a simulation property.
The SonarProxy class is used to control a interface_sonar device.
Definition: playerc++.h:2603
uint32_t GetPoseCount() const
Number of valid sonar poses.
Definition: playerc++.h:2629
player_pose3d_t GetPose(uint32_t aIndex) const
Sonar poses (m,m,radians)
Definition: playerc++.h:2632
double GetScan(uint32_t aIndex) const
return a particular scan value
Definition: playerc++.h:2622
uint32_t GetCount() const
return the sensor count
Definition: playerc++.h:2619
The SpeechProxy class is used to control a interface_speech device.
Definition: playerc++.h:2651
The SpeechRecognition proxy provides access to a interface_speech_recognition device.
Definition: playerc++.h:2676
SpeechRecognitionProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
std::string GetWord(uint32_t aWord) const
Accessor method for getting speech recognition data i.e. words.
Definition: playerc++.h:2688
uint32_t GetCount(void) const
Gets the number of words.
Definition: playerc++.h:2694
playerc_speechrecognition_t * mDevice
libplayerc data structure
Definition: playerc++.h:2681
the Stereo proxy provides access to the interface_stereo device.
Definition: playerc++.h:2705
uint32_t GetRightWidth() const
Right image width (pixels)
Definition: playerc++.h:2762
void GetRightImage(uint8_t *aImage) const
Right image data This function copies the image data into the data buffer aImage.
Definition: playerc++.h:2816
void DecompressLeft()
decompress the left image
Definition: playerc++.h:2746
void SaveFrame(const std::string aPrefix, uint32_t aWidth, playerc_camera_t aDevice, uint8_t aIndex)
Save a frame.
uint32_t GetDisparityDepth() const
Disparity image color depth.
Definition: playerc++.h:2757
void DecompressRight()
decompress the right image
Definition: playerc++.h:2748
uint32_t GetDisparityCompression() const
Get the disparity image's compression type Currently supported compression types are:
Definition: playerc++.h:2847
uint32_t GetLeftCompression() const
Get the left image's compression type Currently supported compression types are:
Definition: playerc++.h:2837
uint32_t GetLeftWidth() const
Left image width (pixels)
Definition: playerc++.h:2760
void GetLeftImage(uint8_t *aImage) const
Left image data This function copies the image data into the data buffer aImage.
Definition: playerc++.h:2806
uint32_t GetRightCompression() const
Get the right image's compression type Currently supported compression types are:
Definition: playerc++.h:2842
uint32_t GetRightDepth() const
Right image color depth.
Definition: playerc++.h:2755
uint32_t GetRightImageSize() const
Size of the right image (bytes)
Definition: playerc++.h:2798
uint32_t GetLeftHeight() const
Left image height (pixels)
Definition: playerc++.h:2767
uint32_t GetLeftFormat() const
Image format Possible values include.
Definition: playerc++.h:2779
void GetDisparityImage(uint8_t *aImage) const
Disparity image data This function copies the image data into the data buffer aImage.
Definition: playerc++.h:2826
void SaveRightFrame(const std::string aPrefix, uint32_t aWidth=4)
Save the right frame.
Definition: playerc++.h:2739
void SaveDisparityFrame(const std::string aPrefix, uint32_t aWidth=4)
Save the disparity frame.
Definition: playerc++.h:2743
uint32_t GetRightFormat() const
Image format Possible values include.
Definition: playerc++.h:2786
uint32_t GetCount() const
return the point count
Definition: playerc++.h:2850
playerc_stereo_t * mDevice
libplayerc data structure
Definition: playerc++.h:2711
uint32_t GetLeftImageSize() const
Size of the left image (bytes)
Definition: playerc++.h:2796
uint32_t GetDisparityWidth() const
Disparity image width (pixels)
Definition: playerc++.h:2764
player_pointcloud3d_stereo_element_t GetPoint(uint32_t aIndex) const
return a particular point value
Definition: playerc++.h:2853
uint32_t GetRightHeight() const
Right image height (pixels)
Definition: playerc++.h:2769
uint32_t GetDisparityFormat() const
Image format Possible values include.
Definition: playerc++.h:2793
uint32_t GetDisparityImageSize() const
Size of the disparity image (bytes)
Definition: playerc++.h:2800
uint32_t GetLeftDepth() const
Left image color depth.
Definition: playerc++.h:2753
uint32_t GetDisparityHeight() const
Disparity image height (pixels)
Definition: playerc++.h:2771
void DecompressDisparity()
decompress the disparity image
Definition: playerc++.h:2750
void SaveLeftFrame(const std::string aPrefix, uint32_t aWidth=4)
Save the left frame.
Definition: playerc++.h:2735
The VectorMapProxy class is used to interface to a vectormap.
Definition: playerc++.h:2866
size_t GetFeatureDataCount(unsigned layer_index, unsigned feature_index) const
Get how long the feature data is for a layer and feature.
VectorMapProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
int GetFeatureCount(unsigned layer_index) const
Get how many features are in a particular layer.
const uint8_t * GetFeatureData(unsigned layer_index, unsigned feature_index) const
Get the feature data for a layer and feature.
void GetMapInfo()
Request map information from the underlying device.
std::vector< std::string > GetLayerNames() const
Get the names of each of the layers.
void GetLayerData(unsigned layer_index)
Request data for a specific layer from the underlying device.
The WSNProxy class is used to control a interface_wsn device.
Definition: playerc++.h:2957
void DataFreq(int nodeID, int groupID, float frequency)
Set WSN device frequency.
void SetDevState(int nodeID, int groupID, int devNr, int value)
Set a WSN device State.
uint32_t GetNodeType() const
Get the node's type.
Definition: playerc++.h:2974
uint32_t GetNodeID() const
Get the node's ID.
Definition: playerc++.h:2976
player_wsn_node_data_t GetNodeDataPacket() const
Get a WSN node packet.
Definition: playerc++.h:2982
uint32_t GetNodeParentID() const
Get the node's parent ID.
Definition: playerc++.h:2978
The WiFiProxy class controls a interface_wifi device.
Definition: playerc++.h:2910
char * GetOwnIP() const
Get your current IP address.
Definition: playerc++.h:2932
char * GetLinkESSID(int index) const
Get the ESSID from a particular link.
Definition: playerc++.h:2938
double GetLinkFreq(int index) const
Get the frequency from a particular link.
Definition: playerc++.h:2940
int GetLinkEncrypt(int index) const
Get whether a particular link is encrypted.
Definition: playerc++.h:2944
int GetLinkCount() const
Get how many links the device sees.
Definition: playerc++.h:2930
char * GetLinkMAC(int index) const
Get the MAC address from a particular link.
Definition: playerc++.h:2936
const playerc_wifi_link_t * GetLink(int aLink)
Get the playerc wifi link data.
int GetLinkMode(int index) const
Get the connection mode from a particular link.
Definition: playerc++.h:2942
int GetLinkLevel(int index) const
Get the signal level of a particular link.
Definition: playerc++.h:2948
int GetLinkNoise(int index) const
Get the noise level of a particular link.
Definition: playerc++.h:2950
int GetLinkQuality(int index) const
Get the quality of a particular link.
Definition: playerc++.h:2946
char * GetLinkIP(int index) const
Get the IP address from a particular link.
Definition: playerc++.h:2934
Definition: playerclient.h:96
PLAYERC_EXPORT int playerc_localize_get_particles(playerc_localize_t *device)
Request the particle set.
A rectangular bounding box, used to define the size of an object.
Definition: player.h:246
A rectangular bounding box, used to define the size of an object.
Definition: player.h:255
A rectangular bounding box, used to define the origin and bounds of an object.
Definition: player.h:308
player_orientation_3d_t base_orientation
The orientation of the base of the actarray.
Definition: playerc.h:1052
uint32_t actuators_count
The number of actuators in the array.
Definition: playerc.h:1041
player_point_3d_t base_pos
The position of the base of the actarray.
Definition: playerc.h:1050
player_audio_seq_t seq_data
last block of seq data
Definition: playerc.h:1141
player_audio_mixer_channel_list_detail_t channel_details_list
Details of the channels from the mixer.
Definition: playerc.h:1135
player_audio_mixer_channel_list_t mixer_data
current channel data
Definition: playerc.h:1144
player_audio_wav_t wav_data
last block of recorded data
Definition: playerc.h:1138
unsigned int blobs_count
A list of detected blobs.
Definition: playerc.h:1353
uint8_t * bumpers
Bump data: unsigned char, either boolean or code indicating corner.
Definition: playerc.h:1404
int bumper_count
Number of points in the scan.
Definition: playerc.h:1401
player_bumper_define_t * poses
Pose of each bumper relative to robot (mm, mm, deg, mm, mm).
Definition: playerc.h:1398
uint8_t * image
Image data (byte aligned, row major order).
Definition: playerc.h:1473
Note: the structure describing the Cooperating Object's data packet is declared in Player.
Definition: playerc.h:1532
uint8_t * user_data
User defined data array.
Definition: playerc.h:1578
uint32_t sensor_data_count
Number of sensors included.
Definition: playerc.h:1567
uint32_t user_data_count
User defined message size (in bytes)
Definition: playerc.h:1576
int messageType
Flag to indicate that new info has come.
Definition: playerc.h:1537
uint32_t alarm_data_count
Number of alarms included.
Definition: playerc.h:1571
player_coopobject_sensor_t * alarm_data
Active alarms array.
Definition: playerc.h:1573
uint16_t RSSIsender
Cooperating Object data packet.
Definition: playerc.h:1553
uint8_t * parameters
Request/command parameters array
Definition: playerc.h:1587
uint16_t parent_id
Cooperating Object Parent ID (if existing)
Definition: playerc.h:1548
uint32_t parameters_count
Request/command parameters array size (in bytes)
Definition: playerc.h:1585
player_coopobject_sensor_t * sensor_data
Sensor measurements array.
Definition: playerc.h:1569
Info about an available (but not necessarily subscribed) device.
Definition: playerc.h:495
player_fiducial_geom_t fiducial_geom
Geometry in robot cs.
Definition: playerc.h:1696
int fiducials_count
List of detected beacons.
Definition: playerc.h:1699
double err_horz
Horizontal and vertical error (meters).
Definition: playerc.h:1774
double course
Course made good (heading if the robot moves along its longitudinal axis), in radians.
Definition: playerc.h:1762
int quality
Quality of fix 0 = invalid, 1 = GPS fix, 2 = DGPS fix.
Definition: playerc.h:1777
uint8_t capacity
The capacity of the gripper's store - if 0, the gripper cannot store.
Definition: playerc.h:1951
uint8_t num_beams
The number of breakbeams the gripper has.
Definition: playerc.h:1949
player_pose3d_t pose
Gripper geometry in the robot cs: pose gives the position and orientation, outer_size gives the exten...
Definition: playerc.h:1945
uint8_t stored
The number of currently-stored objects.
Definition: playerc.h:1960
uint8_t state
The gripper's state: may be one of PLAYER_GRIPPER_STATE_OPEN, PLAYER_GRIPPER_STATE_CLOSED,...
Definition: playerc.h:1956
uint32_t beams
The position of the object in the gripper.
Definition: playerc.h:1958
Note: the structure describing the HEALTH's data packet is declared in Player.
Definition: playerc.h:2018
player_imu_data_calib_t calib_data
Calibrated IMU data (accel, gyro, magnetometer)
Definition: playerc.h:3780
player_pose3d_t pose
The complete pose of the IMU in 3D coordinates + angles
Definition: playerc.h:3775
int * intensity
Scan reflection intensity values (0-3).
Definition: playerc.h:2199
player_point_2d_t * point
Scan data; x, y position (m).
Definition: playerc.h:2194
double(* scan)[2]
Scan data; range (m) and bearing (radians).
Definition: playerc.h:2191
double min_right
Minimum range, in meters, in the right half of the scan (those ranges from the first beam,...
Definition: playerc.h:2210
double min_left
Minimum range, in meters, in the left half of the scan (those ranges from the first beam after the mi...
Definition: playerc.h:2215
double scan_start
Start bearing of the scan (radians).
Definition: playerc.h:2173
double pose[3]
Laser geometry in the robot cs: pose gives the position and orientation, size gives the extent.
Definition: playerc.h:2160
double robot_pose[3]
Robot pose (m,m,rad), filled in if the scan came with a pose attached.
Definition: playerc.h:2164
double scanning_frequency
Scanning frequency in Hz.
Definition: playerc.h:2185
int pending_count
The number of pending (unprocessed) sensor readings.
Definition: playerc.h:2424
int type
What kind of log device is this? Either PLAYER_LOG_TYPE_READ or PLAYER_LOG_TYPE_WRITE.
Definition: playerc.h:2481
int state
Is logging/playback enabled? Call playerc_log_get_state() to fill it.
Definition: playerc.h:2485
double origin[2]
Map origin, in meters (i.e., the real-world coordinates of cell 0,0)
Definition: playerc.h:2546
int8_t data_range
Value for each cell (-range <= EMPTY < 0, unknown = 0, 0 < OCCUPIED <= range)
Definition: playerc.h:2549
double(* waypoints)[3]
List of waypoints in the current plan (m,m,radians).
Definition: playerc.h:2734
double waypoint_distance
Straight-line distance along allwaypoints in the current plan.
Definition: playerc.h:2738
int curr_waypoint
Current waypoint index (handy if you already have the list of waypoints).
Definition: playerc.h:2727
int waypoint_count
Number of waypoints in the plan.
Definition: playerc.h:2730
int path_valid
Did the planner find a valid path?
Definition: playerc.h:2710
playerc_pointcloud3d_element_t * points
The list of 3D pointcloud elements.
Definition: playerc.h:3693
uint16_t points_count
The number of 3D pointcloud elementS found.
Definition: playerc.h:3690
int status
Status bitfield of extra data in the following order:
Definition: playerc.h:2822
double pose[3]
Robot geometry in robot cs: pose gives the position1d and orientation, size gives the extent.
Definition: playerc.h:2799
double pose[3]
Robot geometry in robot cs: pose gives the position2d and orientation, size gives the extent.
Definition: playerc.h:2893
double vel_roll
Angular velocity (radians/sec).
Definition: playerc.h:3001
double pos_roll
Device orientation (radians).
Definition: playerc.h:2995
double zoom
The current zoom value (field of view angle).
Definition: playerc.h:3152
uint32_t intensities_count
Number of intensities in a scan.
Definition: playerc.h:3264
uint32_t element_count
Number of individual elements in the device.
Definition: playerc.h:3229
player_pose3d_t device_pose
Device geometry in the robot CS: pose gives the position and orientation, size gives the extent.
Definition: playerc.h:3250
uint32_t ranges_count
Number of ranges in a scan.
Definition: playerc.h:3259
uint16_t tags_count
The number of RFID tags found.
Definition: playerc.h:3649
player_pose3d_t * poses
Pose of each sonar relative to robot (m, m, radians).
Definition: playerc.h:3367
playerc_wifi_link_t * links
A list containing info for each link.
Definition: playerc.h:3445
Note: the structure describing the WSN node's data packet is declared in Player.
Definition: playerc.h:3824
player_wsn_node_data_t data_packet
The WSN node's data packet.
Definition: playerc.h:3835
uint32_t node_parent_id
The ID of the WSN node's parent (if existing).
Definition: playerc.h:3833